Henderson, 51, was found lying in the street near the intersection of Market and Eighth Streets at about 9:20 p.m., Officer Albie Esparza said.
The man was pronounced dead on the scene, Esparza said.
An investigator at the medical examiner’s office couldn’t immediately comment on Henderson’s city of residence.
As of Saturday, police had not identified any suspects or vehicles involved.
Any witnesses are asked to contact the San Francisco Police Department’s anonymous tip line at (415) 575-4444.
Saul Sugarman/Rachel Purdy, Bay City News